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Stability Analysis of Nonlinear Teleoperation Systems With Time-Varying Delays Via A Delay-Product-Type Functional

Stability Analysis of Nonlinear Teleoperation Systems With T...

引用

第三十八届中国控制会议

作者： Xiao-Hui Guo Chuan-Ke Zhang Yong He School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper is concerned with the stability analysis of a class of nonlinear teleoperation systems with time-varying delays. The proportional derivative position position control scheme with asymmetrical time-varying delays in control loops is considered for the master and the slave robots. Firstly, a new Lyapunov-Krasovskii functional（LKF） with several delayproduct-type terms is constructed by using the information of asymmetrical time-varying delays;and the Wirtinger-based integral inequality and the reciprocally convex matrix inequality are used to estimate the derivative of the LKF. As a result, a delaydependent stability criterion with less conservatism is established. Finally, an example is given to show the effectiveness and merits of the proposed criterion.

关键词： Nonlinear teleoperation system time-varying delay stability analysis linear matrix inequality

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Anti-Occlusion Correlation Filter Tracking Based on Multi-Peaks Response

Anti-Occlusion Correlation Filter Tracking Based on Multi-Pe...

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第三十八届中国控制会议

作者： Jiale Sun Longsheng Wei Wei Liu Feng Liu Min Wang Xu Yin School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Aiming at the problem that the target occlusion and target loss in the target tracking process can not be solved by most tracking algorithms, anti-occlusion correlation filter tracking based on multi-peaks response is proposed. When the target is occluded, the response of the multi-peaks and the highest peaks exceeds the set thresholds, and the two-dimensional matrix of the Gaussian distribution is used to perform a point multiplication operation with the confidence map to obtain a new confidence map, and the current frame model update is stopped. Experiments show that compared with other algorithms, the algorithm has a significant improvement in tracking accuracy and speed when dealing with video sequences whose targets are occluded.

关键词： Visual tracking Correlation filter Occlusion Multi-peaks response

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Multi-Features Fusion Based on Boolean Map for Video Saliency Detection

Multi-Features Fusion Based on Boolean Map for Video Salienc...

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第三十八届中国控制会议

作者： Longsheng Wei Min Wang Wei Liu Xinmei Wang Jiale Sun Xu Yin School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Video saliency detection aims to extract salient objects in video. In order to resolve the problems of incomplete extraction salient area and the mixing between background and salient objects at boundary, this paper proposes a video saliency detection method via multi-features fusion based on Boolean Map. The main innovation in this method is that global topological relationship of video frames are utilized to compute saliency values. Firstly, boolean maps are generated according to the Boolean Map theory via combine motion features and color features in videos, and then attention maps are calculated by masking unsurroundedness area, finally, video saliency maps are obtained by fusing all attention maps. Experiments on Segtrack V2 and Fukuchi benchmark datesets show that the proposed method successfully obtains complete and clear boundary salient area, and it outperforms the other general models.

关键词： Video saliency detection Boolean map Multi-features fusion

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intelligent control Strategy Based on PSO-Elman Prediction Model for Ignition Temperature in Sintering Process

Intelligent Control Strategy Based on PSO-Elman Prediction M...

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第三十八届中国控制会议

作者： Yanzhuo Cen Jianqi An School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Ignition temperature in a sintering process is a dominant factor for the quality of sinter ore. However, it is difficult to control the temperature since the pressure of the gas that is used in the ignition fluctuates constantly. This paper presents an intelligent control to stabilize the ignition temperature in a sintering process. First, this paper analyzes the characteristics of an ignition process and studies the main factors affecting the ignition temperature. Then, a particle swarm optimization(PSO)-Elman model is established to predict the ignition temperature. Next, this paper describes an intelligent control system, including a fuzzy controller, two expert controllers, and a switching controller. Finally, the experimental results based on actual run data show that the intelligent control strategy stabilizes the ignition temperature.

关键词： Sintering Process Ignition Temperature PSO-Elman Prediction Model intelligent control

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Design of Surface Magneto-Optical Kerr Effect Automatic Measurement System Based on LabVIEW

Design of Surface Magneto-Optical Kerr Effect Automatic Meas...

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第三十八届中国控制会议

作者： Laizhe Zhu Kaifeng Dong Fang Jin Junlei Song Wenqin Mo School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

It is of great significance for accurate and fast magnetic measurement of high magneto-crystalline anisotropy film materials. In this paper, an surface magneto-optical Kerr effect automatic measurement system based on LabVIEW is designed according to the practical requirements of hysteresis loop measurement of magnetic films. The system takes the SR830 lock-in amplifier as core, combined with virtual instrument technology and correlative detection technology, which achieves the effective measurement of the weak Kerr signal of Ni Fe soft magnetic film material under strong noise environment, and automatically draws its hysteresis loop. The measurement system has high resolution, high output signal-to-noise ratio, high automation, and has good application value.

关键词： SMOKE hysteresis loop virtual instrument LabVIEW lock-in amplifier

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Self-Adaptive PCNN Based on Maximum Entropy and its Application in Handwritten Digit Recognition

Self-Adaptive PCNN Based on Maximum Entropy and its Applicat...

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第三十八届中国控制会议

作者： Rui Zhu Wei-Hua Cao Zhe-Yi Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper mainly studies the self-adaptation of Pulse Coupled Neural Network(PCNN) and the application in handwritten digit recognition. First, the edge extraction algorithm of image using PCNN and maximum entropy is proposed, the parameters' optimization of PCNN is realized by Simple Genetic Algorithm. Then, the foveation algorithm based on PCNN is used to extract the feature points of handwritten digits. Finally, a BP neural network with two hidden layers is used to recognize the images of handwritten digits which have been preprocessed. Experimental results on handwritten digit recognition demonstrated that the proposed method reached good performance on feature extraction and the recognition has better accuracy compared with the original method using BP neural network directly.

关键词： PCNN self-adaptation foveation algorithm BP neural network

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Synchronization of a Class of Discrete-Time Nonlinear Singularly Perturbed complex Networks

Synchronization of a Class of Discrete-Time Nonlinear Singul...

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第三十八届中国控制会议

作者： Yongzhi Li Yuqing Li Xiongbo Wan School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

In this paper, the problem of synchronization is investigated for a class of discrete-time nonlinear singularly perturbed complex networks(SPCNs). A slow sampling discrete-time nonlinear SPCN model is first devised, which includes the slow and the fast states as well as the general sector-like nonlinear functions. By utilizing the Kronecker product, a new Lyapunov function dependent on singular perturbation parameter(SPP) is constructed. A sufficient condition in terms of linear matrix inequalities(LMIs) is derived under which the discrete-time nonlinear SPCN is globally asymptotically synchronized. When these LMIs have feasible solutions, the global asymptotic synchronization is ensured and the upper bound of the SPP is evaluated. A numerical example is given to illustrate the effectiveness of our results.

关键词： complex networks Synchronization Singularly perturbed systems Discrete-time systems

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High Precision Tuning Device of Microwave Cavity Filter Based on Hand-eye Coordination

High Precision Tuning Device of Microwave Cavity Filter Base...

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第三十八届中国控制会议

作者： Chaolong Yao Yan Yuan Jie Li Leyu Bi School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

Based on the structure and dynamic tuning characteristics of the microwave cavity filter, the method of vision assisting mechanical arm motion is used for tuning. In order to meet the flexibility and high precision requirements of the microwave cavity filter tuning system, the thesis improves image recognition and hand-eye coordination methods. Image recognition using Otsu method for image segmentation, the relative 3 d position coordinates of the target screw are obtained by edge fitting circle and image sharpness, and the screw angle was extracted by dynamically obtaining the screw groove thread area, which was used to improve the applicability and accuracy of screw positioning and thread angle extraction. The hand-eye coordination part proposes a hand-eye coordination method based on image feedback. Through the feedback of the image, the PID control robot arm is continuously moved to make the screw center and the image center overlap to achieve hand-eye coordination. The experimental results show that compared with the traditional hand-eye calibration method, the method takes less time and has lower hand-eye coordination error, which greatly improves the flexibility and precision of the tuning system. Based on the improved method of image recognition and hand-eye coordination, it can realize accurate and fast tuning of microwave cavity filter, and it also has certain guiding significance for the tuning of similar industrial equipment.

关键词： hand-eye coordination microwave cavity filter image positioning visual feedback

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An improved synchronization criterion for chaotic Lur'e systems with sampled-data control

An improved synchronization criterion for chaotic Lur'e syst...

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第三十八届中国控制会议

作者： Lei-Chao Pang Xing-Chen Shang-Guan Chuan-Ke Zhang Yong He School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

This paper is concerned with the asymptotical synchronization of two identical chaotic Lur'e systems using sampleddata control. Firstly, by defining the synchronization error, the synchronization of original systems is converted into the stabilization design of the error system. Then, an augmented Lyapunov-Krasovskii functional with new terms is constructed and its derivative is estimated by using Wirtinger-based integral inequality and the reciprocally convex matrix inequality. As a result,a less conservative synchronization criterion is established to design the sampled-data scheme. Finally, the advantage of the proposed method is demonstrated by a numerical example.

关键词： Synchronization Chaotic Lur'e systems Sampled-data control Lyapunov-Krasovskii functional

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Spectral Reflectance Reconstruction Based on Spectral Optimization of Light Source

Spectral Reflectance Reconstruction Based on Spectral Optimi...

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第三十八届中国控制会议

作者： Hui Jiang Xin Wang Jing-Jing Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems

As a unique property of the object surface, the spectral reflectance plays an important role in computer vision applications and in realistic material reproduction. To determine the influence of the light source on the spectral reflectance reconstruction accuracy, the pseudo-inverse method is adopted to reconstruct the spectral reflectance. Further, the genetic algorithm is used to optimize the light source for improving the reconstruction accuracy. The experiment results show that the spectral reflectance reconstruction accuracy is highly affected by the light source spectra, and the light source spectra optimized by the proposed strategy significantly outperforms several commonly used illumination source.

关键词： Spectral Reflectance Reconstruction Genetic Algorithm Pseudo Inverse Operation

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